# rSkill manifest — OpenRAL packaging format V1 (CLAUDE.md §6.4)
#
# Wraps: OpenRAL/rskill-molmoact2-multi-so101-nf4 (NF4-quantized from
#        allenai/MolmoAct2-SO100_101 via tools/quantize_rskill.py)
# Base:  allenai/MolmoAct2 (Ai2 action reasoning model, Molmo2-ER VLM +
#        flow-matching action expert) — arXiv:2605.02881
#
# Why NF4: bf16 MolmoAct2 (~5.5 B params, ~11 GiB) OOMs an 8 GiB consumer
# GPU. NF4 quantization of every Linear with >=4M weight elements brings
# the working set to ~3.5 GiB, comfortably under the 8 GiB ceiling while
# preserving paper-faithful behaviour (Molmo2-ER backbone + DiT-style
# action expert). The OpenRAL molmoact2 adapter detects the upstream
# repo's quantization_metadata.json sentinel and loads the pre-quantized
# weights via load_prequantized_state_for_rskill (no on-the-fly
# quantization cost at startup).
#
# Provenance (lerobot 0.6.0): the model graph is built from lerobot's in-tree
# MolmoAct2ForConditionalGeneration class (this NF4 pack loads into it
# key-for-key) — NOT via a trust_remote_code AutoModel. source_repo below
# supplies only the config + processor + norm_stats.json.
#
# norm_tag: this checkpoint requires norm_tag="so100_so101_molmoact2" (the
# adapter's bare default is "libero", which this checkpoint rejects). It is
# declared below under image_preprocessing.norm_tag and propagated to the
# adapter by resolve_image_preprocessing, so SimEnvironment configs need NOT
# set it — a SimEnvironment YAML may still override it via vla.extra.norm_tag.
#
# UNITS — degrees: this checkpoint was trained on LeRobot SO-100/101 teleop
# recorded in joint DEGREES (norm_stats.json spans ±270, control_mode
# "absolute joint pose"). MuJoCo scenes are radian-native, so a sim config
# driving this rSkill MUST select the degree convention, e.g. the so101_box
# scene's `scene.backend_options.joint_units: degrees`. The env then converts
# its proprio state (rad→deg) and the returned action (deg→rad) at the policy
# boundary. NOTE: the LeRobot SO-101 servo-degree calibration does not share a
# zero with the MuJoCo `so101_new_calib` URDF (e.g. trained shoulder_lift sits
# ~45–186°, the MJCF joint maxes at 100°), so a units conversion alone aligns
# magnitudes but not the per-joint zero reference; full task fidelity needs the
# dataset's calibration offsets. See scenes/sim/so101_tube_insertion.yaml.
#
# LICENSE (CLAUDE.md §7.4): Apache-2.0 (code + weights). MolmoAct2 is a
# fully open release from Ai2 — weights, training code, and data are all
# Apache-2.0. Commercial use is permitted.

# ── Identity ───────────────────────────────────────────────────────────────
schema_version: "0.1"
name: "OpenRAL/rskill-molmoact2-multi-so101-nf4"
version: "0.1.0"
license: "apache-2.0"
role: "s1"
kind: "vla"  # rSkill kind discriminator. "vla" = learnable Vision-Language-Action policy.

# ── Policy identity ────────────────────────────────────────────────────────
model_family: "molmoact2"

# ── Compatibility contract ─────────────────────────────────────────────────
# MolmoAct2-SO100_101 was finetuned on a mixture of SO-100 and SO-101
# teleop data with identical 6-DoF kinematics (Feetech STS3215 servo chain).
# Both embodiment tags are claimed because the training distribution covers
# both and the 6-DoF absolute joint-position contract is identical.
embodiment_tags:
  - "so100_follower"
  - "so101_follower"

# MolmoAct2-SO100_101 consumes two RGB camera streams. The training data
# used overhead ("top") and side-mounted ("side") Realsense views; the
# aliases below map from the canonical SO101 scene camera names to the
# model's expected feature keys.
sensors_required:
  - modality: "rgb"
    vla_feature_key: "observation.images.camera1"
    min_width: 224
    min_height: 224
  - modality: "rgb"
    vla_feature_key: "observation.images.camera2"
    min_width: 224
    min_height: 224

# Output side. For the canonical so101_follower embodiment the
# loader auto-fills n_dof + vla_action_key from robots/so101_follower/robot.yaml.
# The checkpoint emits absolute joint-position targets.
actuators_required:
  - kind: "joint_position"
    control_mode_semantics:
      mode: "absolute"

# ── Runtime / weights ──────────────────────────────────────────────────────
runtime: "pytorch"
quantization:
  # ``int4`` is the OpenRAL ``QuantizationDtype`` enum value that matches
  # bitsandbytes NF4. The exact bnb scheme (nf4 + compute_dtype bf16, applied
  # to every Linear with >=4M weight elements) is recorded in the upstream
  # ``quantization_metadata.json`` sentinel that the molmoact2 adapter probes
  # via ``detect_prequantized_nf4`` and loads via ``install_prequantized_linears``.
  dtype: "int4"
  backend: "pytorch"
# Informational VRAM ceilings, used by `openral rskill check` / `openral doctor`.
# The NF4 packed weights are ~3.5 GiB and fit comfortably under the 8 GiB
# consumer-GPU ceiling. bf16 ceiling matches the base Molmo2-ER model (~5.5B
# params × 2 bytes = ~11 GiB weights only; peak inference higher).
min_vram_gb:
  fp32: 22.0
  bf16: 11.0
  int4: 4.0
weights_uri: "hf://OpenRAL/rskill-molmoact2-multi-so101-nf4"

# ── Preprocessing (all knobs needed to interpret IO) ───────────────────────
processors:
  preprocessor_uri: "hf://OpenRAL/rskill-molmoact2-multi-so101-nf4/policy_preprocessor.json"
  postprocessor_uri: "hf://OpenRAL/rskill-molmoact2-multi-so101-nf4/policy_postprocessor.json"
# SO-100/101 teleop data is recorded upright — no rotation applied.
# Aliases map from canonical SO101 scene camera keys (so101_box scene emits
# ``oak_top`` + ``wrist``) to the model's training feature keys (``top`` /
# ``side``). Adjust per-scene in vla.extra if your camera names differ.
image_preprocessing:
  flip_180: false
  norm_tag: "so100_so101_molmoact2"
  # Secondary activation lever: caps the image processor's tile count (each extra
  # 378px crop adds ~182 pooled image tokens with quadratic attention cost).
  # MEASURED on an 8 GiB RTX 4070 (transformers 5.x): this does NOT by itself
  # decide the 8 GiB fit — the inference peak (~7.63 GiB) is set by the LM token
  # embedding, not the vision crops, and transformers 5.x's fast image processor
  # does not honour max_crops the way the slow one did. The actual 8 GiB enabler
  # is the CUDA expandable-segments allocator, which the molmoact2 adapter turns
  # on automatically (see policies/molmoact2.py::_enable_expandable_segments).
  # The pin is kept conservative for the slow-processor path / larger frames;
  # raise it via vla.extra.image_max_crops if you have VRAM headroom.
  image_max_crops: 4
  aliases:
    top: "top"
    wrist: "side"
state_contract:
  dim: 6

# ── Execution semantics ────────────────────────────────────────────────────
chunk_size: 10
# n_action_steps omitted — equals chunk_size (full chunk replay, MolmoAct2 default).
latency_budget:
  # MolmoAct2's adaptive-depth reasoning runs a single action call in ~180 ms
  # (base) to ~790 ms (with depth reasoning); a half-chunk replan budget of
  # 1000 ms leaves headroom for the flow-matching sampling (10 steps default).
  per_chunk_ms: 1000.0

# ── Provenance ─────────────────────────────────────────────────────────────
paper_url: "https://arxiv.org/abs/2605.02881"
source_repo: "hf://allenai/MolmoAct2-SO100_101"

description: >
  MolmoAct2 (Ai2) finetuned on the SO-100/SO-101 teleop mixture, NF4-quantized
  for 8 GB GPUs. Emits 6-DoF absolute joint-position chunks (size 10) for the
  SO-100/SO-101 follower arm. Flow-matching action expert on Molmo2-ER VLM.
  Apache-2.0. norm_tag="so100_so101_molmoact2" travels in the manifest's
  image_preprocessing block (overridable via vla.extra.norm_tag).

# Action vocabulary surfaced to the reasoner LLM tool palette so it
# can pick this skill by what it does (action verb + object + scene), not just
# by its slug.
actions:
  - "pick"
  - "place"
  - "pick_and_place"
  - "grasp"
objects: []
scenes:
  - "tabletop"

# Per-checkpoint action contract (consumed by the dataset bridge to
# bind the LeRobot v3 `action` feature shape). SO-100/101 uses a 6-D absolute
# joint-position action (5 arm joints + 1 gripper).
action_contract:
  dim: 6
  # SO-101 emits absolute joint positions (5 arm joints + 1 gripper).
  representation: "joint_positions"
  # EXPLICIT joint units — trained on LeRobot SO-100/101 teleop, which records in
  # DEGREES (verified from norm_stats.json metadata_by_tag/so100_so101_molmoact2:
  # state_stats span −270…+250, q99≈185 — far outside radians). The runner
  # converts deg↔rad at the policy boundary; see the header UNITS note. Same
  # convention as the smolvla-so101-pen reference.
  joint_units: "degrees"